Research On Key Technologies Of UAV Formation Based On Artificial Potential Field Method

Because of its advantages such as low cost,lighter weight and good concealment,UAV has been paid more and more attention,and the development of UAV formation flight technology has further expanded its application prospect.In this paper,by introducing and improving the artificial potential field method,the mathematical model of single level UAV formation,the unmanned Aircraft formation control theory based on artificial potential field method,and the artificial potential field design method of two-level unmanned aerial vehicle formation obstacle avoidance have been expounded,and the method of formation flight and obstacle avoidance of rotor UAV has been studied at 6-DOF in detail.The main research contents of this paper are as follows:1.The single level UAV formation mathematical model and the unmanned aircraft formation control theory based on the artificial potential field method have been introduced in detail,and the single level formation has been simulated and analyzed.2.The potential field design method and control method of the two-level formation to the fixed-point obstacle have been discussed in detail,the coupling and complexity of the two-level formation obstacle avoidance method have been emphasized,and the process of two-level formation flight and the whole-point obstacle avoidance have been simulated and analyzed;3.analysis of the two-level formation of fixed-point barriers to take the decomposition of obstacle avoidance method of the situation field design method in the information topology of the difference and correction,and through the loose fixed-point obstacle and tight fixed-point obstacle two conditions simulation analysis,verify the advantages of the decomposition obstacle avoidance method;4.Through the correction of the obstacle potential field and the coupling term in the fixed-point obstacle avoidance method,to deal with the obstacle of moving point,it still has excellent performance,and the side-moving point obstacle and the forward moving point obstacle are simulated and analyzed to verify the efficiency and universality of the moving point decomposition obstacle avoidance method in dealing with various obstacle conditions.The creative results presented in this paper include:1.the artificial potential field method from the UAV formation cruise/obstacle avoidance,fixed/moving point obstacle,the whole/decomposition obstacle avoidance and other aspects of improvement,improve the system in dealing with the corresponding problems of stability,accelerate the convergence speed;2.based on a huge number of unmanned aerial vehicles formation of the concept of hierarchy,through the different levels,different connections weights,different communication relationship analysis,optimize the UAV formation communication topology,increase the formation of obstacle avoidance means controllable;3.through the gradual and in-depth theoretical research and simulation comparison,this paper has been put forward a method of obstacle avoidance based on two-level formation,which makes it capable of coping with many kinds of obstacles in airspace.